dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2019-01-05T11:16:17Z | |
dc.date.available | 2019-01-05T11:16:17Z | |
dc.date.created | 2019-01-04T12:46:44Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | IFAC-PapersOnLine. 2018, 51 (222), 121-125. | nb_NO |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2579315 | |
dc.description.abstract | The multiple task-priority inverse kinematics framework using the Moore-Penrose pseudoinverse has been shown to be asymptotically stable for the regulation problem with certain conditions on the tasks. In this article we present a theorem that extends this to the tracking problem by including an additional criterion that we term fully represented in the null-space. We show the effect of this on a simulation with a snake-like robot manipulator with 30 links for 3 compatible tasks, and an example of 2 tasks that are compatible as a regulation problem but incompatible as a tracking problem. As the tracking problem is more affected by the linearization assumption, we also include an example showing that the effect of linearization can be detrimental during tracking. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.title | Stability of the Tracking Problem with Task-Priority Inverse Kinematics | nb_NO |
dc.type | Journal article | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 121-125 | nb_NO |
dc.source.volume | 51 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 222 | nb_NO |
dc.identifier.doi | https://doi.org/10.1016/j.ifacol.2018.11.528 | |
dc.identifier.cristin | 1650376 | |
dc.description.localcode | This is a submitted manuscript of an article published by Elsevier Ltd in IFAC-PapersOnLine, 12 December 2018. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |